#pragma config(Hubs,  S1, HTMotor,  HTMotor,  HTServo,  HTMotor)
#pragma config(Sensor, S1,     ,                    sensorI2CMuxController)
#pragma config(Sensor, S2,     HTPB,                sensorI2CCustom9V)
#pragma config(Sensor, S3,     SMUX_1,              sensorI2CCustom)
#pragma config(Sensor, S4,     SMUX_2,              sensorI2CCustom)
#pragma config(Motor,  motorA,          a,             tmotorNormal, PIDControl, reversed, encoder)
#pragma config(Motor,  motorB,          b,             tmotorNormal, PIDControl, reversed, encoder)
#pragma config(Motor,  motorC,          c,             tmotorNormal, PIDControl, reversed, encoder)
#pragma config(Motor,  mtr_S1_C1_1,     fr,            tmotorNormal, PIDControl, encoder)
#pragma config(Motor,  mtr_S1_C1_2,     br,            tmotorNormal, PIDControl, reversed, encoder)
#pragma config(Motor,  mtr_S1_C2_1,     fl,            tmotorNormal, PIDControl, encoder)
#pragma config(Motor,  mtr_S1_C2_2,     bl,            tmotorNormal, PIDControl, reversed, encoder)
#pragma config(Motor,  mtr_S1_C4_1,     xlifta,        tmotorNormal, openLoop)
#pragma config(Motor,  mtr_S1_C4_2,     xliftb,        tmotorNormal, openLoop)
#pragma config(Servo,  srvo_S1_C3_1,    servo1,               tServoNone)
#pragma config(Servo,  srvo_S1_C3_2,    servo2,               tServoNone)
#pragma config(Servo,  srvo_S1_C3_3,    servo3,               tServoNone)
#pragma config(Servo,  srvo_S1_C3_4,    servo4,               tServoNone)
#pragma config(Servo,  srvo_S1_C3_5,    servo5,               tServoNone)
#pragma config(Servo,  srvo_S1_C3_6,    servo6,               tServoNone)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#include "JoystickDriver.c"

task main{
  while(true){
    motor[xlifta] = -joystick.joy1_y1/1.2;
    motor[xliftb] = -joystick.joy1_y1/1.2;
    nxtDisplayTextLine(1, "lifta: "+nMotorEncoder[xlifta]);
    nxtDisplayTextLine(2, "liftb: "+nMotorEncoder[xliftb]);

  }

}
